WO2016128877A1 - Système d'actionnement pour orthèse de hanche - Google Patents

Système d'actionnement pour orthèse de hanche Download PDF

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Publication number
WO2016128877A1
WO2016128877A1 PCT/IB2016/050639 IB2016050639W WO2016128877A1 WO 2016128877 A1 WO2016128877 A1 WO 2016128877A1 IB 2016050639 W IB2016050639 W IB 2016050639W WO 2016128877 A1 WO2016128877 A1 WO 2016128877A1
Authority
WO
WIPO (PCT)
Prior art keywords
transmission device
user
hip
axis
orthosis
Prior art date
Application number
PCT/IB2016/050639
Other languages
English (en)
Other versions
WO2016128877A9 (fr
Inventor
Nicola Vitiello
Francesco Giovacchini
Marco CEMPINI
Matteo FANTOZZI
Matteo MOISÉ
Marco MUSCOLO
Mario Cortese
Original Assignee
Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna filed Critical Scuola Superiore Di Studi Universitari E Di Perfezionamento Sant'anna
Priority to MX2017010098A priority Critical patent/MX2017010098A/es
Priority to BR112017014169-8A priority patent/BR112017014169A2/pt
Priority to US15/542,693 priority patent/US10603242B2/en
Priority to CN201680009157.8A priority patent/CN107223044B/zh
Priority to EP16707961.5A priority patent/EP3256090B1/fr
Priority to RU2017126996A priority patent/RU2708223C2/ru
Priority to CA2971671A priority patent/CA2971671A1/fr
Publication of WO2016128877A1 publication Critical patent/WO2016128877A1/fr
Publication of WO2016128877A9 publication Critical patent/WO2016128877A9/fr
Priority to US16/781,641 priority patent/US11432988B2/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A61H1/0237—Stretching or bending or torsioning apparatus for exercising for the lower limbs
    • A61H1/0244—Hip
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/01—Constructive details
    • A61H2201/0192—Specific means for adjusting dimensions
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/12—Driving means
    • A61H2201/1207—Driving means with electric or magnetic drive
    • A61H2201/1215—Rotary drive
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/1628—Pelvis
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/164—Feet or leg, e.g. pedal
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1602—Physical interface with patient kind of interface, e.g. head rest, knee support or lumbar support
    • A61H2201/165—Wearable interfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/16—Physical interface with patient
    • A61H2201/1657—Movement of interface, i.e. force application means
    • A61H2201/1676—Pivoting

Definitions

  • the robotic orthoses of the type also known as exoskeletons represent a promising solution to assist people - elderly and not - living with motor deficits. These orthosis have usually anthropomorphic form and are "worn” from the subject. For active assistance “purposes", the orthosis can include a group of actuation which generates mechanical power and transfers it to the affected joint segment, frequently the user hip.
  • the actuation system of the invention has limited lateral dimensions, allowing the subject to freely make the movement of the so-called "swing" of the arms.
  • Such a limited lateral encumbrance is a consequence of the positioning of an actuator, such as rotary, in the back of the system itself (i.e. at the back of the user).
  • the overall configuration of the system 1 is such that the motor means 10 and the transmission device 2 result floating with respect to frame 1 1 , and this by virtue mainly of the interposition of rotary joints 41 and 42. Therefore, the rotary actuator 10 may be called as "Rear Floating Hip Actuator".
  • Figures 1 and 2 and, in greater detail, Figures 3, 4A and 4B show a first preferred embodiment of the transmission device 2.
  • it is a device based on one or more flexible elongated elements , for example cables, chains, belts, which engage a plurality of pulleys or equivalent components.
  • Each cable is wound on two common main pulleys (one relative to the motor axis M and denoted by 22 and one relative to the output axis D and denoted by 24) and on two idle drive pulleys of return, respectively 25, 25' and 26, 26'. All the considered six pulleys are rotatable about axes parallel to each other and substantially perpendicular, in use, to the sagittal plane of the user.
  • the two inner pairs of pulleys 25-25' and 26-26' are placed on two distinct elements, or flanges, 281 and 282.
  • the element 281 is integral to the box- shaped element 292, while the element 282 is free to slide by means of carriages on the rails above described, also independently by the sliding of the second box-shaped element 292.
  • the transmission device 2, 20 is suitable to be realized with reduced thickness.
  • the system 1 also provides a device of adjustment, or variation, of the width in the user's front plane, overall denoted by 5 and based on a linear joint.
  • the linear joint is made in a known way as a kinematic pair with one translational degree of freedom along a horizontal direction parallel to the user's frontal plane.

Landscapes

  • Health & Medical Sciences (AREA)
  • Epidemiology (AREA)
  • Pain & Pain Management (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Tools (AREA)
  • Manipulator (AREA)

Abstract

La présente invention concerne une orthèse de hanche (100) comprenant : - un actionneur rotatif élastique (10) positionné au niveau de la partie arrière d'orthèse ; - un système de transmission extensible (2), positionné le long du côté de l'utilisateur et adapté pour transmettre l'action de l'actionneur de l'articulation de la hanche ; - une liaison (3) qui transmet l'action mécanique à la cuisse de l'utilisateur ; - une chaîne de degrés de liberté (4) par l'intermédiaire de laquelle lesdits trois éléments sont reliés à un cadre qui interface l'orthèse entière avec le corps de l'utilisateur ; ces degrés de liberté peuvent être passifs, actionnés ou raccordés à des éléments élastiques.
PCT/IB2016/050639 2015-02-09 2016-02-08 Système d'actionnement pour orthèse de hanche WO2016128877A1 (fr)

Priority Applications (8)

Application Number Priority Date Filing Date Title
MX2017010098A MX2017010098A (es) 2015-02-09 2016-02-08 Sistema de actuacion para ortesis de cadera.
BR112017014169-8A BR112017014169A2 (pt) 2015-02-09 2016-02-08 sistema de acionamento para órtese de quadril
US15/542,693 US10603242B2 (en) 2015-02-09 2016-02-08 Actuation system for hip orthosis
CN201680009157.8A CN107223044B (zh) 2015-02-09 2016-02-08 髋关节矫形器驱动系统
EP16707961.5A EP3256090B1 (fr) 2015-02-09 2016-02-08 Système d'actionnement pour orthèse de hanche
RU2017126996A RU2708223C2 (ru) 2015-02-09 2016-02-08 Система приведения в действие для ортеза тазобедренного сустава
CA2971671A CA2971671A1 (fr) 2015-02-09 2016-02-08 Systeme d'actionnement pour orthese de hanche
US16/781,641 US11432988B2 (en) 2015-02-09 2020-02-04 Actuation system for hip orthosis

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ITFI2015A000025 2015-02-09
ITFI20150025 2015-02-09

Related Child Applications (2)

Application Number Title Priority Date Filing Date
US15/542,693 A-371-Of-International US10603242B2 (en) 2015-02-09 2016-02-08 Actuation system for hip orthosis
US16/781,641 Continuation US11432988B2 (en) 2015-02-09 2020-02-04 Actuation system for hip orthosis

Publications (2)

Publication Number Publication Date
WO2016128877A1 true WO2016128877A1 (fr) 2016-08-18
WO2016128877A9 WO2016128877A9 (fr) 2016-12-08

Family

ID=52633359

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2016/050639 WO2016128877A1 (fr) 2015-02-09 2016-02-08 Système d'actionnement pour orthèse de hanche

Country Status (8)

Country Link
US (2) US10603242B2 (fr)
EP (1) EP3256090B1 (fr)
CN (1) CN107223044B (fr)
BR (1) BR112017014169A2 (fr)
CA (1) CA2971671A1 (fr)
MX (1) MX2017010098A (fr)
RU (1) RU2708223C2 (fr)
WO (1) WO2016128877A1 (fr)

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WO2018132192A1 (fr) * 2017-01-12 2018-07-19 Parker-Hannifin Corporation Dispositif d'exosquelette de mobilité à marcher doté de mécanismes de réglage améliorés
KR20190089118A (ko) * 2017-05-25 2019-07-30 유.에스. 바이오닉스, 인크. 외골격 장치용 조정 가능한 몸통 및 엉덩이 조립체
WO2019211791A1 (fr) 2018-05-02 2019-11-07 Iuvo S.R.L Système d'actionnement dans un exosquelette
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CN109172289B (zh) * 2018-10-16 2021-02-23 合肥工业大学 基于多功能驱动器的髋关节康复外骨骼及其运动控制方法
CN109620652B (zh) * 2019-01-23 2021-07-16 上海理工大学 一种串联弹性髋关节助行器
CN110539289B (zh) * 2019-08-09 2022-09-16 北京航空航天大学 一种助力外骨骼三自由度对心髋关节机构
CN111588589B (zh) * 2020-05-15 2021-02-26 燕山大学 三自由度展腿机构
EP4210910A1 (fr) 2020-09-08 2023-07-19 Iuvo S.r.L. Système et procédé d'estimation de phase de démarche à utiliser à l'aide d'un robot pouvant être porté sur soi
CN112274308A (zh) * 2020-11-19 2021-01-29 华中科技大学同济医学院附属协和医院 一种用于髋关节骨性关节炎的矫形器及矫治方法
WO2022137031A1 (fr) 2020-12-22 2022-06-30 Iuvo S.R.L Procédé, système et robot à porter par l'utilisateur pour corriger des troubles de la marche
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US20200206063A1 (en) 2020-07-02
RU2708223C2 (ru) 2019-12-04
CN107223044B (zh) 2019-11-01
CN107223044A (zh) 2017-09-29
RU2017126996A3 (fr) 2019-05-31
EP3256090B1 (fr) 2018-08-15
WO2016128877A9 (fr) 2016-12-08
US10603242B2 (en) 2020-03-31
CA2971671A1 (fr) 2016-08-18
US20170367919A1 (en) 2017-12-28
MX2017010098A (es) 2017-11-23
BR112017014169A2 (pt) 2018-01-09
US11432988B2 (en) 2022-09-06
RU2017126996A (ru) 2019-03-12

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